Presiden Susilo Bambang Yudhoyono dijadwalkan kembali menyatakan sikapnya terhadap menghangatnya hubungan Indonesia-Malaysia di Markas Besar Tentara Nasional Indonesia, Rabu malam. Usai melaksanakan berbuka puasa bersama dengan Panglima TNI, tiga kepala staf angkatan dan seluruh jajaran TNI, Presiden akan memberikan pidato terkait sikapnya terhadap perkembangan yang terjadi antara Indonesia-Malaysia, belakangan ini.
Sejak 13 Agustus 2010, hubungan Indonesia dan Malaysia kembali menghangat pascapenangkapan tiga petugas Kementerian Kelautan dan Perikanan oleh aparat Malaysia di Tanjung Berakit, Kepulauan Riau, Indonesia. Tindakan aparat Malaysia tersebut mengakibatkan dua negara terperangkap dalam perang mulut yang cukup panas, diplomasi megapon yang sangat tak sedap.
PM bahkan telah mengeluarkan peringatan bagi warganya untuk tidak bepergian ke Indonesia, mengingat demonstrasi anti-Malaysia yang dianggap berlebihan. Menanggapi itu, Presiden Susilo Bambang Yudhoyono telah menyurati PM Najib untuk menyelesaikan persoalan antara dua negara secara baik. Selain itu, Presiden juga mengajak PM Najib untuk mempercepat pembahasan masalah perbatasan kedua negara.
Namun, surat Presiden Yudhoyono tersebut ditanggapi kurang bersabahat oleh PM Najib. Pemerintah Malaysia justru meminta Indonesia untuk menertibkan aksi demo anti-Malaysia dan menuding para demonstran sebagai tentara bayaran. Terkait itu, Presiden Yudhoyono akan kembali menyampaikan sikapnya dalam pidato yang disampaikan usai Shalat Tarawih di Mabes TNI, Cilangkap, Jakarta
Sejak 13 Agustus 2010, hubungan Indonesia dan Malaysia kembali menghangat pascapenangkapan tiga petugas Kementerian Kelautan dan Perikanan oleh aparat Malaysia di Tanjung Berakit, Kepulauan Riau, Indonesia. Tindakan aparat Malaysia tersebut mengakibatkan dua negara terperangkap dalam perang mulut yang cukup panas, diplomasi megapon yang sangat tak sedap.
PM bahkan telah mengeluarkan peringatan bagi warganya untuk tidak bepergian ke Indonesia, mengingat demonstrasi anti-Malaysia yang dianggap berlebihan. Menanggapi itu, Presiden Susilo Bambang Yudhoyono telah menyurati PM Najib untuk menyelesaikan persoalan antara dua negara secara baik. Selain itu, Presiden juga mengajak PM Najib untuk mempercepat pembahasan masalah perbatasan kedua negara.
Namun, surat Presiden Yudhoyono tersebut ditanggapi kurang bersabahat oleh PM Najib. Pemerintah Malaysia justru meminta Indonesia untuk menertibkan aksi demo anti-Malaysia dan menuding para demonstran sebagai tentara bayaran. Terkait itu, Presiden Yudhoyono akan kembali menyampaikan sikapnya dalam pidato yang disampaikan usai Shalat Tarawih di Mabes TNI, Cilangkap, Jakarta
Given that the robot arm movement is appropriate to its application, that the arm strength and rigidity meet the payload needs and that servo drives provide the necessary speed of response and resolution, a robot controller is required to manage the arm articulations, its End Effector, and the interface with the workplace. The simplest type of control, still widely used, is "record-playback," or "lead-through". An operator positions arm articulations to desired configurations. At each desired location the articulation encoder positions are recorded in memory. Step by step, an entire work-cycle sequence is recorded. Then in playback mode the sequence is observed and modified.
In some systems, the only information available about the error is whether it is 0 or non-0, i.e., whether the current and desired states are the same. This is very little information to work with, but it is still a basis for control and can be exploited in interesting ways. Additional information about the error would be its magnitude, i.e., how "far" the current state is from the desired state. Finally, the last part of the error information is its direction, i.e., is the current state too close or too far from the desires state (in whatever space it may be). Control is easiest if we have frequent feedback providing error magnitude and direction. Notice that the behavior of a feedback system oscillates around the desired state. In the case of a thermostat, the temperature oscillates around the set point, the desired setting. Similarly, the robot's movement will oscillate around the desired state, which is the optimal distance from the wall. How can we decrease this oscillation? We can use a smoother/larger turning angle, and we can also use a range instead of a set point distance as the goal state. Now what happens when you have sensor error in your system? What if your sensor incorrectly tells you that the robot is far from a wall, but in fact it is not? What about vice versa? How might you address these issues? Feedback control is also called closed loop control because it closes the loop between the input and the output, i.e., it provides the system with a measure of "progress."
The alternative to closed loop control is open loop control. This type of control does not require the use of sensors, since state is not fed back into the system. Such systems can operate (perform repetitive, state-independent tasks) only if they are extremely well calibrated and their environment does not change in a way that affects their performance. We have talked about feedback control so far, but there is also an important notion of feed forward control. In such a system, the controller determines set points and sub-goals for itself ahead of time, without looking at actual state data.
controller must encode rules for all possible sensory combinations. There is an exponential number of those. This is, in fact, the robot's entire sensory space (as we defined earlier in the semester). This space then needs to be mapped to all possible actions (the action space), resulting in the complete control space for that robot. Although this mapping is done while the system is being designed, i.e., not at run-time, it can be very tedious, and it results in a large look up table which takes space to encode/store in a robot, and can take time to search, unless some clever parallel look up technique is used. In general, this complete mapping is not used in hand-designed reactive systems. Instead, specific situations trigger appropriate actions, and default actions are used to cover all other cases. Human designers can effectively reduce the sensory space to only the inputs/situations that matter, map those to the appropriate actions, and thus greatly simplify the control system. If the rules are not triggered by mutually-exclusive conditions, more than one rule can be triggered in parallel, resulting in two or more different actions being output by the system. Deciding among multiple actions or behaviors is called arbitration, and is in general a difficult problem. Arbitration can be done based on 
the underlying programming language must have the ability to multi-task, i.e., execute several processes/pieces of code in parallel. The ability to multi-task is critical in reactive systems: if a system cannot monitor its sensors in parallel, but must go from one to another in sequence, it may miss some event, or at least the onset of an event, thus failing to react in time. Now that we understand the building blocks of a reactive system (reactive rules coupling sensors and effectors, i.e., situations and actions), we need to consider principled ways of organizing reactive controllers. We will start with the best known reactive control architecture, the Subsumption Architecture, introduced by Rod Brooks at MIT in 1985.
continues to function, but may be influenced by layer 1, and so on up. If layer 1 fails, layer 0 is unaffected. When layer 1 is designed, layer 0 is taken into consideration and utilized, i.e., its existence is subsumed, thus the name of the architecture. Layer 1 can inhibit the outputs of layer 0 or suppress its inputs. Subsumption systems grow from the bottom up, and layers can keep being added, depending on the tasks of the robot. How exactly layers are split up depends on the specifics of the robot, the environment, and the task. There is no strict recipe, but some solutions are better than others, and most are derived empirically. The inspiration behind the Subsumption Architecture is the evolutionary process, which introduces new competencies based on the existing ones. Complete creatures are not thrown out and new ones created from scratch; instead, solid, useful substrates are used to build up to more complex capabilities.
he behavior structure. In order to avoid the pitfalls of deliberative systems, the representation must be able to act on a time-scale that is close if not the same as the real-time parts of the system. Similarly, to avoid the pitfalls of the hybrid systems approach, the representation needs to use the same underlying behavior structure as the rest of the system. Note that behavior-based systems can have reactive components to them, i.e., not every part of a behavior-based system needs to be involved with representational computation. In fact, many behavior-based systems did not use complex representations at all. As long as they use behaviors (not just rules), they are BBS.
